CN102616687B - Rotary constant power control method and system for rotary engineering machinery and engineering machinery - Google Patents
Rotary constant power control method and system for rotary engineering machinery and engineering machinery Download PDFInfo
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- 239000012530 fluid Substances 0.000 claims description 34
- 239000000446 fuel Substances 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 11
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/94—Safety gear for limiting slewing movements
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Abstract
A rotary constant power control method of a rotary engineering machine comprises a first step (101): calculating the rotation reference power P which is M multiplied by g multiplied by V, wherein M is the mass of the lifted heavy object; g is a gravitational acceleration constant; v is the rotating linear speed of the weight; second step (201): calculating the rotary table speed n as P x 9.549/TForehead Wherein T isForehead Rated output torque of a speed reducer connected with the rotary driving device; third step (S301): controlling the actual rotating speed of the rotary table (4) to be equal to the rotating speed n of the rotary table. In addition, the invention also provides a rotary constant power control system and a rotary engineering machine for realizing the control method. The control method and the control system can realize the control target of 'light, fast, heavy, slow, near, fast, far and slow' of the revolving operation speed of the heavy object according to the difference of the weight of the heavy object and the working amplitude, and ensure the high efficiency of the revolving operation and the maximum utilization of the structural strength of the whole machine.
Description
Technical field
But the present invention relates to a kind of turning engineering machinery revolving-control method, particularly, but relate to a kind of turning engineering machinery revolution constant-power control method.On this basis, the present invention relates to a kind of permanent power control system of revolution that is used to realize described revolution constant-power control method.In addition, but the invention still further relates to a kind of turning engineering machinery that comprises the permanent power control system of described revolution.
Background technology
But turning engineering machinery is widely used in engineering machinery field, and it mainly is divided into the two parts of getting on the bus and get off, and wherein upper frame part mainly comprises swing type mechanism and is installed in Working mechanism on the rotary table of swing type mechanism.Car hosit for example typically is in the car hosit working process, in order to enlarge scope of work, strengthen the alerting ability of operation, crane arm is installed on the rotary table of swing type mechanism usually, and when rotary table was activated rotation, the crane arm hoisting heavy rotated in company with rotary table like this.
But, but turning engineering machinery in the revolution operation process, defectives such as speed of revolutions is excessive appear in (for example control method imperfection, underloading etc.) usually because of various reasons, this is very jeopardously.As everyone knows, for example for car hosit, if work range is bigger, rotary table can produce very big centripetal force when the arm lifting has the state turning down of weight, this causes car hosit inclination even overturning easily, and is all the more so when especially weight weight is big.For this reason, but in the prior art mainly the maximum speed of revolutions by the restriction turning engineering machinery overcome above-mentioned defective.
For example, but Chinese invention patent application CN101219758A discloses a kind of maximum speed of revolutions method for limiting that prevents that turning engineering machinery from toppling.Referring to illustrated in figures 1 and 2, when the swing type mechanism work of hoisting crane, getting on the bus of hoisting crane rotated with angular velocity omega.At this moment, lifting rope except the size that produces direction and make progress and pulling force that the gravity G of weight equates, also produces the centripetal force of the sensing center of gyration of horizontal direction to hoisting heavy, and the size of this centripetal force is F=G * ω
2* (L
1+ L
0), wherein, L
1For gravity vertical apart from its trace near the horizontal throw of supporting leg, L
0Be the distance of supporting leg to the center of gyration of hoisting crane, both add up to work range.The antagonistic force that this centripetal force produces hoisting crane produces and makes the dynamic tilting moment that hoisting crane is tending towards toppling.Cause hoisting crane to topple for anti-dynamic tilting moment is excessive, described method for limiting mainly comprises the steps: to read the balancing torque and the static tilting moment of this turning engineering machinery under the current state, and calculates dynamic tilting moment space T according to both difference
Dmax, i.e. T
Dmax=balancing torque-locked rotor torque; According to described dynamic tilting moment space T
Dmax, according to formula
Calculate the maximum speed of revolutions ω that allows
Max, wherein G is a lifting weight, and L is a work range, and H is the ranging coverage of dynamic force; Above-mentioned three parameters all obtain by corresponding sensor on the hoisting crane; Allow speed of revolutions ω according to maximum
MaxWith the reduction ratio i of rotary reducer, calculate the maximum permissible speed n of rotary fluid motor
MmaxThe rotating speed of control rotary fluid motor is at this maximum permissible speed n
MmaxUnder.
But, the method for limiting of the maximum speed of revolutions of above-mentioned patent application is with balancing torque and the static tilting moment maximum speed of revolutions method for limiting that to be a reference value proposed swing type mechanism from the security standpoint and the static angle of ' toppling ', do not relate in the turning course difference of the maximum turning spur speed between the identical weight weight under the difference of the maximum turning spur speed between the Different Weight weight under the identical work range and the different operating amplitude, in fact, the above-mentioned control method of prior art still belongs to a kind of more coarse control method, it can't control the rotating speed of swing type mechanism, the therefore tractability and the less pertinence of control pointedly according to the difference of the weight of hoisting heavy and work range.
In view of this, but a kind of later-model turning engineering machinery revolving-control method and control system thereof need be provided.
Summary of the invention
But the present invention's technical matters at first to be solved provides a kind of turning engineering machinery revolution constant-power control method, but this revolution constant-power control method can be guaranteed the trouble free service of turning engineering machinery, but again can be according to the weight of the hoisting heavy of turning engineering machinery and the rotating speed that work range is controlled swing type mechanism pointedly.
On this basis, but the further technical matters to be solved of the present invention provides a kind of turning engineering machinery and turns round permanent power control system, but this turns round the trouble free service that permanent power control system can be guaranteed turning engineering machinery, but again can be according to the weight of the hoisting heavy of turning engineering machinery and the rotating speed that work range is controlled swing type mechanism pointedly.
In addition, but the technical matters that the present invention also will solve provides a kind of turning engineering machinery, but but the rotary control system of being somebody's turn to do turning engineering machinery not only can be guaranteed the trouble free service of turning engineering machinery, but and the weight of the hoisting heavy of energy basis turning engineering machinery and the rotating speed that work range is controlled swing type mechanism pointedly.
In order to solve the problems of the technologies described above, but the invention provides a kind of turning engineering machinery revolution constant-power control method, wherein, this revolution constant-power control method comprises the steps: first step: calculate revolution reference power P=M * g * V, wherein M is the quality of hoisting heavy, and unit is Kg; G is gravity acceleration constant, i.e. g=9.8N/Kg; V is a weight turning spur speed, and unit is m/s, but but when the radius r of the rotary table of the work range R≤described turning engineering machinery of turning engineering machinery, V=3; When the radius r of described work range R＞described rotary table, V=3 * r/R; Second step: calculate rotary table rotation speed n=P * 9.549/T
Volume, T wherein
VolumeBut be the specified output torque of the device for revolving and driving institute bonded assembly reductor of described turning engineering machinery, unit is Nm; The unit of described rotary table rotation speed n is rev/min; Third step: the actual speed of controlling described rotary table equals described rotary table rotation speed n.
Particularly, described device for revolving and driving is a rotary fluid motor, in described third step, but controls the actual speed of described rotary table to the fuel supply flow rate of the rotary fluid motor of described turning engineering machinery by control.
Specifically selectively, in described third step, but the through-flow bore of the slewing directional control valve by controlling described turning engineering machinery is controlled the fuel supply flow rate to described HM Hydraulic Motor.
Preferably, comprise also in described third step whether the actual speed that detects described rotary table in real time equals described rotary table rotation speed n.
On the basis of above-mentioned control method, but the invention provides a kind of turning engineering machinery and turn round permanent power control system, comprise rotary pump, this rotary pump is connected in the rotary fluid motor that is used for by reductor driving rotational platform via slewing directional control valve, to realize the rotating of this rotary fluid motor to this rotary fluid motor fuel feeding, wherein, the permanent power control system of described revolution also comprises controller, this controller is electrically connected on described slewing directional control valve, described controller is controlled the actual speed of described rotary table according to following process pattern: at first, calculate revolution reference power P=M * g * V, wherein M is the quality of hoisting heavy, and unit is Kg; G is gravity acceleration constant, i.e. g=9.8N/Kg; V is a weight turning spur speed, and unit is m/s, but but when the radius r of the rotary table of the work range R of described turning engineering machinery≤should turning engineering machinery, V=3; When the radius r of described work range R＞described rotary table, V=3 * r/R; Secondly, calculate rotary table rotation speed n=P * 9.549/T
Volume, T wherein
VolumeBe the specified output torque of the described reductor of described rotary fluid motor institute's bonded assembly, unit is Nm; The unit of described rotary table rotation speed n is rev/min; Once more, the through-flow bore that described controller is controlled described slewing directional control valve is with the fuel supply flow rate of control to described rotary fluid motor, thereby the rotating speed by controlling described rotary fluid motor is so that the actual speed of described rotary table equals described rotary table rotation speed n.
Specifically selectively, described slewing directional control valve is solenoid-operated proportional change-over valve or electro-hydraulic proportion reversing valve.
Specifically selectively, described rotary pump is a controllable capacity pump.
Preferably, the permanent power control system of described revolution also comprises the tachogen of the actual speed that is used to detect described rotary table, this tachogen is electrically connected on described controller, whether equals described rotary table rotation speed n with the actual speed that detects described rotary table in real time.
In addition, but the present invention also provides a kind of turning engineering machinery, wherein, but should comprise the permanent power control system of each described revolution in the claim 5 to 8 by turning engineering machinery.
Specifically selectively, but described turning engineering machinery is a car hosit.
Pass through technique scheme, revolution constant-power control method of the present invention and control system thereof are controlled as benchmark with the revolution reference power, but calculate the revolution reference power P that guarantees the turning engineering machinery trouble free service by summing up actual revolution job parameter, and then be that basic calculation goes out the rotary table rotation speed n with this revolution reference power, and then the actual speed of control rotary table equals the rotary table rotation speed n that calculates according to the revolution reference power.By control method of the present invention, under different operating amplitude R, even the mass M of hoisting heavy is identical, its rotary table rotation speed n is also different; Under identical work range R, the mass M of different hoisting heavies also can cause the rotary table rotation speed n different.Under a certain work range of the hoisting heavy that quality is determined, swing type mechanism with constant power operation, has been avoided the fluctuation of rotary table rotating speed all the time.But control method of the present invention can be guaranteed the trouble free service of turning engineering machinery, but again can be according to the weight of the hoisting heavy of turning engineering machinery and the rotating speed that work range is controlled swing type mechanism pointedly, and the tractability and the specific aim of control are better.According to the n value revolution operation that calculates, just realized the permanent power control of Different Weight turning down performance under the different amplitudes.That is to say; control method of the present invention and control system thereof can effectively realize in the crane rotation hoisting operation process different according to weight weight and work range; realize the controlled target of weight revolution operating speed ' brisk heavy slow, near fast far away slow ', guarantee to turn round the efficient of operation and and the maximum utilization of complete machine structure intensity.But turning engineering machinery of the present invention comprises the permanent power control system of above-mentioned revolution, so it has above-mentioned advantage equally.
Other features and advantages of the present invention will partly be described in detail in the specific embodiment subsequently.
Description of drawings
Following accompanying drawing is used to provide further understanding of the present invention, and constitutes the part of specification sheets, and itself and the following specific embodiment one are used from explanation the present invention, but protection scope of the present invention is not limited to following the drawings and the specific embodiments.In the accompanying drawings:
Fig. 1 is the FB(flow block) of the method for max rotation speed restriction of turning engineering machinery of prior art.
Fig. 2 be prior art shown in Figure 1 show the crane revolution time hoisting crane dynamic stress scheme drawing.
But Fig. 3 be turning engineering machinery for example the swing type mechanism of hoisting crane under the state of hoisting heavy, carry out rotating view.
But Fig. 4 is the FB(flow block) of turning engineering machinery revolution constant-power control method of the present invention.
But Fig. 5 is the structure principle chart that turning engineering machinery of the present invention turns round permanent power control system.
Description of reference numerals:
1 hoisting heavy; 2 lifting ropes;
3 arms; 4 rotary tables;
5 supporting legs; 6 controllers;
7 tachogens; 8 rotary pumps;
9 solenoid-operated proportional change-over valves; 10 rotary fluid motors;
11 fuel tanks; M weight quality;
V weight turning spur speed; N rotary table rotating speed;
The R work range.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is elaborated, should be understood that, the specific embodiment described herein only is used for description and interpretation the present invention, and protection scope of the present invention is not limited to the following specific embodiment.
At first need to prove, although mainly be that example is described in the explanation hereinafter with the hoisting crane, but for those skilled in the art apparently, but revolution constant-power control method of the present invention and control system thereof can be widely applicable for the various turning engineering machineries that need hoisting heavy, for example power shovel etc.In addition, in the explanation hereinafter, will suitably simply describe for some technique known contents.
Referring to shown in Figure 3, but at turning engineering machinery, when for example car hosit is worked, being installed in rotary table 4 upper boom portion 3 follows rotary table 4 and rotates together, hoisting heavy 1 is suspended in the end of arm 3 by lifting rope 2, stability when strengthening car hosit revolution work, car hosit generally need support on the ground by supporting leg 5 when hoisting heavy.In when revolution, the rotary table rotating speed of rotary table 4 is n (also can be labeled as the n branch usually, promptly unit is rev/min), and the weight quality is M, and weight turning spur speed is V, and work range is R.This turn state is known for those skilled in the art, and this is repeated no more.
Revolution constant-power control method of the present invention is described below.Referring to shown in Figure 4, revolution constant-power control method of the present invention comprises the steps:
At first, in first step S101, calculate revolution reference power P=M * g * V, need to prove at this, the computing formula of this revolution reference power is the contriver by the actual parameter of summing up engineering revolution operation and considers the reference formula that the factors such as inertia of hoisting heavy draw, not in strict conformity with the power calculation principle.
Wherein M is the quality of hoisting heavy 1, and unit is generally Kg; G is gravity acceleration constant, i.e. 9.8N/Kg; V is a weight turning spur speed, and unit is m/s.According to engineer operation practice and national hoisting operation safety rate, under various work ranges, weight turning spur speed usually should be greater than 3m/s, from the angle of mechanical analysis, for the hoisting heavy of same quality, work range R (unit is m) is big more, the centnifugal force (antagonistic force is centripetal force) that produces is big more, the possibility of hoisting crane inclination is also just big more, and therefore when work range R increased, weight turning spur speed should reduce ideally.Find by the field operation parameter of summing up the engineer operation practice, but from guaranteeing the angle of turning engineering machinery safe operation, generally but when the radius r (unit is m) of the rotary table 4 of work range R≤turning engineering machinery, weight turning spur speed is that 3m/s is generally safely; When the radius r of work range R＞rotary table, calculate weight turning spur speed V=3 * r/R by differential technique.Apparently, the unit of the revolution reference power that calculates in this first step is W, i.e. Nm/s (newton's meter per second)
Secondly, in the second step S201, on the basis of described revolution reference power P, calculate rotary table rotation speed n=P * 9.549/T
Volume, T wherein
VolumeBut be the specified output torque of the device for revolving and driving institute bonded assembly reductor of turning engineering machinery, unit is Nm (newton meter), apparently, the unit of the described rotary table rotation speed n that calculates by this formula for rev/min.In this second step, for those skilled in the art apparently, in rotary table 4 operational processs, suppose that the rotary table rotating speed is n, then the actual revolution power of rotary table is T * n/9.549, the moment of torsion that provides for device for revolving and driving institute bonded assembly reductor of T wherein, n is the rotary table rotating speed, unit is rev/min).Because control method of the present invention is to be object with hoisting heavy 1, it can guarantee that with above-mentioned but the revolution reference power of turning engineering machinery (for example car hosit) trouble free service is as the control benchmark, equaling the rotary table rotation speed n by the actual speed of adjusting rotary table makes it reach permanent power rating, so P=M * g * V=T * n/9.549, thereby rotary table rotation speed n=P * 9.549/T, because the actual torque that provides of device for revolving and driving institute bonded assembly reductor of swing type mechanism is provided T.According to national standard (GB3811-2008), generally speaking, in reality revolution operation process, T=Tf (friction moment)+Tw (moment of wind resistance)+Tp (gradient moment)+Tv (dynamic rotation distance).Because in the revolution operation process, the torque of device for revolving and driving (for example rotary fluid motor) generally can not surpass its torque rating, but for short-cut calculation and guarantee the operational security of turning engineering machinery, make rotary table rotation speed n held stationary, adopt the specified output torque of device for revolving and driving institute bonded assembly reductor to calculate, i.e. n=P * 9.549/T
VolumeThe specified output torque of described device for revolving and driving institute bonded assembly reductor calculates according to the torque rating of device for revolving and driving, the torque rating of device for revolving and driving (for example rotary fluid motor) is known for the device for revolving and driving of employing model, known ground, the transmitting ratio that the torque rating of described device for revolving and driving multiply by reductor is the specified output torque of reductor, certainly under the situation of considering machinery driving efficiency, also to multiply by the corresponding coefficient of mechanical efficiency, the general gear reduction unit coefficient of mechanical efficiency is 90%, and the worm-gear speed reducer coefficient of mechanical efficiency is 70-90%.
Once more, S301 in third step, the actual speed of control rotary table 4 equals described rotary table rotation speed n.
From above-mentioned control method of the present invention as can be seen, because control method of the present invention is controlled as benchmark with the revolution reference power, but calculate the revolution reference power P that guarantees the turning engineering machinery trouble free service by summing up actual revolution job parameter, and then be that basic calculation goes out the rotary table rotation speed n with this revolution reference power, and then the actual speed of control rotary table 4 equals the rotary table rotation speed n that calculates according to the revolution reference power.By control method of the present invention, under different operating amplitude R, even the mass M of hoisting heavy 1 is identical, its rotary table rotation speed n is also different; Under identical work range R, the mass M of different hoisting heavies 1 also can cause the rotary table rotation speed n different.Under a certain work range of the hoisting heavy 1 that quality is determined, swing type mechanism with constant power operation, has been avoided the fluctuation of rotary table rotating speed all the time.But control method of the present invention can be guaranteed the trouble free service of turning engineering machinery, but again can be according to the weight of the hoisting heavy of turning engineering machinery and the rotating speed that work range is controlled swing type mechanism pointedly, and the tractability and the specific aim of control are better.According to the n value revolution operation that calculates, just realized the permanent power control of Different Weight turning down performance under the different amplitudes.
In above-mentioned control method of the present invention, above-mentioned device for revolving and driving can adopt different actuating devices, thereby the method for the rotating speed of the rotating speed control rotary table 4 correspondingly by the control device for revolving and driving also is not quite similar, this is apparently for those skilled in the art, for example described device for revolving and driving can adopt motor, thereby can easily control the rotating speed of rotary table 4 by the control motor speed.But, but in turning engineering machinery, generally adopt hydraulic gyration mechanism, therefore, preferably, described device for revolving and driving is a rotary fluid motor 10, in above-mentioned third step 301, but be known ground for the technical personnel in turning engineering machinery field, the rotating speed of rotary table 4 can easily be realized to the fuel supply flow rate of rotary fluid motor 10 by control.
Suitably referring to Fig. 5, knownly, but the swing type mechanism revolution speed calculating formula (not considering various mechanical efficiency) of turning engineering machinery is as follows: rotary pump peak output flow: Q
p=V
pN
1, wherein Vp is the discharge capacity of rotary pump 8, n
1Rotating speed for the driving engine (for example combustion engine or motor) that is used for driving rotational pump 8; Rotary fluid motor 10 peak output rotating speeds:
Vm is the discharge capacity of rotary fluid motor 10, can be according to the size of current random variation; In addition, known ground, rotary table 4 generally via speed reduction gearing and big or small swiveling gear by fluid motor-driven, so rotating speed of rotary table 4:
Wherein i is for being swing type mechanism reductor transmitting ratio, and Z2, Z1 are the big pinion gear teeth number of revolution.But the swing type mechanism revolution speed calculating formula of above-mentioned turning engineering machinery is to know ground for those skilled in the art, and under the situation of considering corresponding mechanical efficiency, above-mentioned formula also needs to consider the corresponding coefficient of mechanical efficiency certainly.
By above-mentioned formula as can be seen,, thereby control the rotating speed of rotary table 4, make the rotating speed of rotary table 4 equal the rotary table rotation speed n of aforementioned calculation as long as the fuel supply flow rate of control rotary fluid motor 10 can be controlled the rotating speed of rotary fluid motor 10 effectively.
Suitably referring to Fig. 5, in above-mentioned steps 301, to those skilled in the art, generally can control fuel supply flow rate by the opening of control slewing directional control valve to HM Hydraulic Motor 10, slewing directional control valve generally can adopt solenoid-operated proportional change-over valve 4 for this reason, accurately to realize flow control.In addition, rotary pump 2 can be controllable capacity pump, and the delivery rate by the control variable pump can play controls effect better.
In above-mentioned control method of the present invention, preferably, above-mentioned third step comprises also whether the rotating speed that detects described rotary table 4 in real time equals described rotary table rotation speed n.This generally detects by tachogen.
But below describe turning engineering machinery of the present invention and turn round permanent power control system, need to prove, because but the swing type mechanism in the turning engineering machinery is commonly the hydraulic drive type swing type mechanism, therefore but to turn round permanent power control system be representative type hydraulic gyration control system to turning engineering machinery of the present invention, referring to Fig. 5, similar with known swing type mechanism, this turns round permanent power control system and comprises rotary pump 8, this rotary pump 8 is connected in the rotary fluid motor 10 that is used for by reductor driving rotational platform via slewing directional control valve, to realize the rotating of this rotary fluid motor 10 to described rotary fluid motor 10 fuel feeding, concrete pipeline annexation all is known with being connected of fuel tank 11 etc. for example, does not repeat them here.Wherein, this turns round permanent power control system and also comprises controller 6, this controller 6 is electrically connected on described slewing directional control valve, described controller 6 according to following process pattern (representing software process module or hardware module) but the rotating speed (unit of the parameter of following formula is with described in the above-mentioned control method) of rotary table 4 of control turning engineering machinery:
At first, calculate revolution reference power P=M * g * V, wherein M is the quality of hoisting heavy 1, and g is the gravity acceleration constant, and V is a weight turning spur speed, but when the radius r of the rotary table 4 of work range R≤turning engineering machinery, V=3; When the radius r of work range R＞rotary table, V=3 * r/R;
Secondly, calculate rotary table rotation speed n=P * 9.549/T
Volume, T wherein
VolumeBut torque rating for the rotary fluid motor institute bonded assembly reductor of turning engineering machinery;
Once more, the through-flow bore of the described slewing directional control valve of described controller 6 controls is with the fuel supply flow rate of control to described rotary fluid motor 10, and with the rotating speed of control rotary fluid motor 10, thereby the rotating speed of control rotary table 4 equals described rotary table rotation speed n.
But turn round in the permanent power control system at above-mentioned turning engineering machinery, preferably, described slewing directional control valve is solenoid-operated proportional change-over valve 9 (being 3-position 4-way solenoid-operated proportional change-over valve among Fig. 5) or electro-hydraulic proportion reversing valve.Known ground, solenoid-operated proportional change-over valve or electro-hydraulic proportion reversing valve not only can be realized commutation control, and can realize accurate flow control by electric control.
Preferably, described rotary pump 8 is a controllable capacity pump.In addition, preferably, but turning engineering machinery turns round the tachogen 7 that permanent power control system also comprises the rotating speed that is used to detect described rotary table 4, and this tachogen 7 is electrically connected on described controller 6, whether equals described rotary table rotation speed n with the rotating speed that detects described rotary table 4 in real time.
But turn round at above-mentioned turning engineering machinery on the basis of technical scheme of permanent power control system, but the present invention also provides a kind of turning engineering machinery, this turning engineering machinery comprises the permanent power control system of above-mentioned revolution.Specifically selectively, but described turning engineering machinery is a car hosit, but can certainly be the hoisting crane or the turning engineering machinery of other type, for example power shovel.
By last description as can be seen, the invention has the advantages that: control method of the present invention and control system thereof are controlled as benchmark with the revolution reference power, but calculate the revolution reference power P that guarantees the turning engineering machinery trouble free service by summing up actual revolution job parameter, and then be that basic calculation goes out the rotary table rotation speed n with this revolution reference power, and then the rotating speed of control rotary table 4 equals n.By control method of the present invention, under different operating amplitude R, even the mass M of hoisting heavy 1 is identical, its rotary table rotation speed n is also different; Under identical work range R, the mass M of different hoisting heavies 1 also can cause the rotary table rotation speed n different.Under a certain work range of the hoisting heavy 1 that quality is determined, swing type mechanism with constant power operation, has been avoided the fluctuation of rotary table rotating speed all the time.But control method of the present invention can be guaranteed the trouble free service of turning engineering machinery, but again can be according to the weight of the hoisting heavy of turning engineering machinery and the rotating speed that work range is controlled swing type mechanism pointedly, and the tractability and the specific aim of control are better.According to the n value revolution operation that calculates, just realized the permanent power control of Different Weight turning down performance under the different amplitudes.That is to say; control method of the present invention and control system thereof can effectively realize in the crane rotation hoisting operation process different according to weight weight and work range; realize the controlled target of weight revolution operating speed ' brisk heavy slow, near fast far away slow ', guarantee to turn round the efficient of operation and and the maximum utilization of complete machine structure intensity.But turning engineering machinery of the present invention comprises the permanent power control system of above-mentioned revolution, so it has above-mentioned advantage equally.
Below describe preferred implementation of the present invention in conjunction with the accompanying drawings in detail; but; the present invention is not limited to the detail in the above-mentioned embodiment; in technical conceive scope of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
Need to prove that in addition each the concrete technical characterictic described in the above-mentioned specific embodiment under reconcilable situation, can make up by any suitable manner.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (10)
1. but turning engineering machinery turns round constant-power control method, and wherein, this revolution constant-power control method comprises the steps:
First step (S101): calculate revolution reference power P=M * g * V, wherein M is the quality of hoisting heavy (1), and unit is Kg; G is gravity acceleration constant, i.e. g=9.8N/Kg; V is a weight turning spur speed, and unit is m/s, but but when the radius r of the rotary table (4) of the work range R≤described turning engineering machinery of turning engineering machinery, V=3; When the radius r of described work range R＞described rotary table (4), V=3 * r/R;
Second step (S201): calculate rotary table rotation speed n=P * 9.549/T
Volume, T wherein
VolumeBut be the specified output torque of the device for revolving and driving institute bonded assembly reductor of described turning engineering machinery, unit is Nm; The unit of described rotary table rotation speed n is rev/min;
Third step (S301): the actual speed of controlling described rotary table (4) equals described rotary table rotation speed n.
2. revolution constant-power control method according to claim 1, wherein, described device for revolving and driving is rotary fluid motor (10), in described third step (S301), but control the actual speed of described rotary table (4) to the fuel supply flow rate of the rotary fluid motor (10) of described turning engineering machinery by control.
3. revolution constant-power control method according to claim 2, wherein, in described third step (S301), but the through-flow bore of the slewing directional control valve by controlling described turning engineering machinery is controlled the fuel supply flow rate to described HM Hydraulic Motor (10).
4. according to each described revolution constant-power control method in the claim 1 to 3, wherein, comprise also in described third step (S301) whether the actual speed that detects described rotary table (4) in real time equals described rotary table rotation speed n.
5. but turning engineering machinery turns round permanent power control system, comprise rotary pump (8), this rotary pump (8) is connected in the rotary fluid motor (10) that is used for by reductor driving rotational platform (4) via slewing directional control valve, to realize the rotating of this rotary fluid motor to this rotary fluid motor (10) fuel feeding, wherein, the permanent power control system of described revolution also comprises controller (6), this controller (6) is electrically connected on described slewing directional control valve, and described controller (6) is controlled the actual speed of described rotary table (4) according to following process pattern:
At first, calculate revolution reference power P=M * g * V, wherein M is the quality of hoisting heavy (1), and unit is Kg; G is gravity acceleration constant, i.e. g=9.8N/Kg; V is a weight turning spur speed, and unit is m/s, but but when the radius r of the rotary table (4) of the work range R of described turning engineering machinery≤should turning engineering machinery, V=3; When the radius r of described work range R＞described rotary table (4), V=3 * r/R;
Secondly, calculate rotary table rotation speed n=P * 9.549/T
Volume, T wherein
VolumeBe the specified output torque of the described reductor of described rotary fluid motor (10) institute's bonded assembly, unit is Nm; The unit of described rotary table rotation speed n is rev/min;
Once more, the through-flow bore of the described slewing directional control valve of described controller (6) control is with the fuel supply flow rate of control to described rotary fluid motor (10), thereby the rotating speed by controlling described rotary fluid motor (10) is so that the actual speed of described rotary table (4) equals described rotary table rotation speed n.
6. the permanent power control system of revolution according to claim 5, wherein, described slewing directional control valve is solenoid-operated proportional change-over valve (9) or electro-hydraulic proportion reversing valve.
7. the permanent power control system of revolution according to claim 5, wherein, described rotary pump (8) is a controllable capacity pump.
8. according to the permanent power control system of each described revolution in the claim 5 to 7, wherein, the permanent power control system of described revolution also comprises the tachogen (7) of the actual speed that is used to detect described rotary table (4), this tachogen (7) is electrically connected on described controller (6), whether equals described rotary table rotation speed n with the actual speed that detects described rotary table (4) in real time.
9. but turning engineering machinery wherein, but should comprise the permanent power control system of each described revolution in the claim 5 to 8 by turning engineering machinery.
10. but turning engineering machinery according to claim 9, wherein, but described turning engineering machinery is a car hosit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210085958 CN102616687B (en) | 2012-03-28 | 2012-03-28 | Rotary constant power control method and system for rotary engineering machinery and engineering machinery |
| PCT/CN2012/082320 WO2013143270A1 (en) | 2012-03-28 | 2012-09-28 | Rotatable engineering machinery rotation constant power control method, system and engineering machinery |
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| CN 201210085958 CN102616687B (en) | 2012-03-28 | 2012-03-28 | Rotary constant power control method and system for rotary engineering machinery and engineering machinery |
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| CN102616687B true CN102616687B (en) | 2013-07-24 |
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| CN102616687B (en) * | 2012-03-28 | 2013-07-24 | 中联重科股份有限公司 | Rotary constant power control method and system for rotary engineering machinery and engineering machinery |
| CN104944289B (en) * | 2015-07-02 | 2017-03-08 | 太原重工股份有限公司 | Crane and its speed of gyration control device, control method |
| CN107399673A (en) * | 2017-09-19 | 2017-11-28 | 安徽骏达起重机械有限公司 | The governing system and method for crane |
| CN110486462B (en) * | 2019-09-12 | 2024-07-30 | 徐州徐工施维英机械有限公司 | Rotary speed reducer device and engineering machinery |
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| CN102145857A (en) * | 2011-01-31 | 2011-08-10 | 徐州重型机械有限公司 | Crane, and revolution controlling system and method thereof |
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- 2012-03-28 CN CN 201210085958 patent/CN102616687B/en active Active
- 2012-09-28 WO PCT/CN2012/082320 patent/WO2013143270A1/en active Application Filing
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| US4697418A (en) * | 1985-09-07 | 1987-10-06 | Hitachi Construction Machinery Co., Ltd. | Control system for hydraulically-operated construction machinery |
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